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检索条件"机构=Robotics Engineering Program"

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Sphinxcam: Computer-aided manufacturing for spherical mechanisms

Sphinxcam: Computer-aided manufacturing for spherical mechan...

引用

ASME 1998 Design engineering Technical Conferences, DETC 1998

作者： Ketchel, John S. Larochelle, Pierre M. Robotics and Spatial Systems Laboratory Mechanical Engineering Program Florida Institute of Technology MelbourneFL32901 United States

ISBN: (纸本)9780791880319

In this paper we present SPHINXCAM, a computer-aided manufacturing software for spherical four-bar mechanisms. The kinematics of spherical mechanisms are reviewed as they pertain to their manufacture. This is followed by a brief review of some of the current computer-aided design (CAD) software for spherical four-bar mechanisms, e.g. SPHINX, SPHINXPC, and ISIS. These software packages provide the three-dimensional visualization and computational capabilities necessary to design spherical four-bar mechanisms. However, to date no tools exist to aid in the manufacture of spherical mechanisms. SPHINXCAM, when used with the CAD tools mentioned above, facilitates the design, visualization, and manufacture of spherical four-bar mechanisms. © 1998 by ASME.

关键词： Visualization

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A portable workcell design for robotics industry

A portable workcell design for robotics industry

引用

2009 ASEE Annual Conference and Exposition

作者： Padir, Taskin Department of Robotics Engineering Program Worcester Polytechnic Institute United States Department of Electrical and Computer Engineering Lake Superior State University United States

This paper presents how a senior capstone project can be utilized to build partnerships between the academia and several companies representing key industries in modern robotics technology. The project can be described as designing a portable robotic workcell for industry to showcase state-of-the-art equipment and technologies in robotics. The industrial sponsor for this project is Applied Manufacturing Technologies (AMT) located in Orion, Michigan. AMT plans to use the workcell for demonstrating current robotics technology in tradeshows, industrial open houses and/or robotics conferences. In addition, the workcell is to be used as a platform to provide training to engineers working in robotics industry on robot programming, machine vision and systems integration. The small size, flexible design and durability make the workcell appealing to many other applications in robotics engineering. An engineering senior project design team composed of one computer engineer, two electrical engineers and two manufacturing engineering technologists at Lake Superior State University has worked on this project as their capstone design requirement through the 2007-2008 academic year. Lake Superior State University offers ABET accredited programs in computer, electrical and mechanical engineering as well as in manufacturing engineering technology. robotics and automation is a degree option in all majors. The capstone senior design project is an integral part of all the degree programs and provides a real-life experience for the engineering senior students. The two-semester course has been an important tool to introduce students to soft skills such as project management, communications, engineering economics, and engineering ethics. The paper illustrates how a capstone design project can be used to build partnerships in robotics technology. An educational partnership between Lake Superior State University and Applied Manufacturing Technologies has quickly expanded to include many oth

关键词： engineering education

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Scalar field reconstruction based on the Gaussian process and adaptive sampling 14

Scalar field reconstruction based on the Gaussian process an...

引用

14th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2017

作者： Jonsson, Porsteinn B. Wang, Jeonghyeon Kim, Jinwhan Laboratory Department of Mechanical Engineering KAIST Daejeon34141 Korea Republic of Robotics Program KAIST Daejeon34141 Korea Republic of

ISBN: (纸本)9781509030552

This paper proposes a method of reconstructing a scalar field by adaptively choosing sampling locations and using the measurements obtained from those locations to reconstruct an estimate of the underlying field using Gaussian process regression. Spreading sampling points evenly over the field may not always be effective if the field is not uniformly distributed and the maximum number of measurements is limited. Taking more measurements in regions of large changes in the field than in regions of small changes can give a better estimate than spreading the same number of measurements evenly over the space. The proposed algorithm was tested on a synthetic scalar field and compared to two popular methods of determining sensor placement based on entropy and mutual information from information theory. © 2017 IEEE.

关键词： Gaussian noise (electronic)

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Object following robot using vision camera, single curvature trajectory and Kalman filters

Object following robot using vision camera, single curvature...

引用

6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Heo, Shin-Nyeong Lim, Hyun-Seop Hwang, Seungik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

Path planning of mobile robot has a purpose to design an optimal path from an initial position to a target point. Minimum driving time, minimum driving distance and minimum driving error might be considered in choosing the optimal path and they are correlated to each other. In this paper, an efficient driving trajectory is planned in a real situation where a mobile robot follows a moving object. Position and distance of the moving object are obtained using a web camera;the rotation angular and linear velocities are estimated using Kalman filters to predict the trajectory of the moving object. Finally the mobile robot follows the moving object using a single curvature trajectory by estimating trajectory of the moving object. Using the estimation by Kalman filters and the single curvature in the trajectory planning, the total tracking distance and error rate have been saved about 7 %. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Kalman filters

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Outdoor precision position estimation system using multi-GPS receivers

Outdoor precision position estimation system using multi-GPS...

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6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Choi, Seunghwan Kim, Kijung Kim, Yunki Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper, tightly coupled system is designed using multi-GPS receivers based on the Extended Kalman Filter(EKF). Typically, GPS has the instantaneous error and INS has the disadvantage that the cumulative error occurs over time. To fill the gap, receiving is stabilized and accuracy is higher position information get using multi-GPS receivers. INS's data is precisely updated through the multi-GPS's position data in the data fusion process of the EKF. Through experiment, it can verify the results compared single GPS and multi-GPS position error, and then calibrated mobile robot position estimation results can be found. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Global positioning system

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Pose Synchronization for Semi-Autonomous Dynamic Robotic Swarms with a Passivity-Short Human Operator 49

Pose Synchronization for Semi-Autonomous Dynamic Robotic Swa...

引用

49th Annual Conference of the IEEE Industrial Electronics Society, IECON 2023

作者： Kanazawa, Reo Murao, Toshiyuki Kawai, Hiroyuki Kanazawa Institute of Technology Graduate Program in Mechanical Engineering Ishikawa Japan Kanazawa Institute of Technology Department of Robotics Ishikawa Japan

ISBN: (纸本)9798350331820

This paper presents a pose synchronization method for semi-autonomous dynamic robotic swarms with a passivityshort human operator. In the human-robot network, a human operator sends a command signal to and receives visual information from only a part of the robotic group. In this setting, the proposed dynamic control scheme achieves not only pose synchronization of all mobile robots but also convergence to the reference pose that the human operator specifies. The main advantage of the proposed method is to guarantee convergence of not only the position but also the orientation to the reference ones in the human-robot network. Finally, we provide human-in-the-loop simulation results through the human operation using a tablet PC to illustrate the performance of the proposed control method. © 2023 IEEE.

关键词： Synchronization

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Vision based people tracking using stereo camera and camshift

Vision based people tracking using stereo camera and camshif...

引用

6th International Conference on Intelligent robotics and Applications, ICIRA 2013

作者： Park, Kang-Il Park, Chan-Ik Lee, Jangmyung Interdisciplinary Program in Robotics Pusan National University Korea Republic of Department of Electrical Engineering Pusan National University Korea Republic of

ISBN: (纸本)9783642408519

In this paper proposes a visual manipulation method that incorporates computation of 3D object position from characteristic disparity of stereo image. First, we proceed to an image revision work using the calibration. To obtain the characteristic disparity, a set of characteristic points, essential to obtain characteristics like center points or corner points are determined from the CAMShift center of left and right images. By iterative computation and tracking in real time, the algorithm is able to robustly provide accurate 3D position of target objects. © 2013 Springer-Verlag Berlin Heidelberg.

关键词： Calibration

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A robotics engineering M.S. degree

A robotics engineering M.S. degree

引用

2010 ASEE Annual Conference and Exposition

作者： Gennert, Michael Michalson, William Demetriou, Michael Computer Science Department Robotics Engineering Program Worcester Polytechnic Institute United States Worcester Polytechnic Institute United States

There is an increasing demand for creative scientific, engineering, and management talent to meet national needs. We believe that the best way to educate professionals for leadership roles is in a unified multi-disciplinary curriculum. This paper describes one such program, a Master of Science degree in robotics engineering at Worcester Polytechnic Institute, whose goal is to prepare men and women for technical leadership in the robotics industry and research in robotics. The program, launched in fall 2009, develops competence in electro-mechanical-computational systems and an awareness of management systems. It constitutes a multi-disciplinary effort by faculty in Arts & Sciences (Mathematics and Computer Science), engineering (Electrical & Computer engineering and Mechanical engineering), and Management. The program is organized around a technical coursework core with select science and engineering electives. Technical strength is supplemented by organizational and management principles embodied in context courses in Systems engineering and Management. The program culminates in individual capstone projects that take the form of a thesis, directed research, or practicum with written report. In all cases, a public oral presentation is required. A B.S./M.S. option allows the program to be completed in a single additional year of work past the Bachelor's degree. By using existing courses where appropriate, we were able to start the program by developing only two new courses, Foundations of robotics and Robot Dynamics, supplemented by special topics, independent study, and other project work. We anticipate adding new courses as the program grows, additional faculty join the program, and as we introduce a Ph.D. in robotics engineering. Initial response to the program by students and industry has been very positive, and the program shows great promise to contribute significantly to meeting future engineering workforce needs. © American Society for engineering Education,

关键词： Curricula

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Automatic Cataract and Cholesterol Detection System Based on Recurrent Neural Network (RNN): A Comparison with Convolutional Neural Network (CNN) and Siamese Neural Network (SNN) 1

引用

19th International Conference of Intelligent Unmanned Systems, ICIUS 2023

作者： Lie, Zener S. Widodo, Jatmiko A. F. Hanesi, Isabel K. P. Moningka, Matthew R. N. Mariana, Y. Astuti, Winda Akmeliawati, Rini Automotive and Robotics Program Computer Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Product Design program Industrial Engineering Department BINUS ASO School of Engineering Bina Nusantara University Jakarta11480 Indonesia Robotics and Automation Research Group School of Electrical and Mechanical Engineering The University of Adelaide North Terrace Campus Adelaide Australia

ISBN: (数字)9789819765911

ISBN: (纸本)9789819765904

In Indonesia, the majority of blindness cases, approximately 81%, are attributed to cataract. Additionally, 35% of the population has higher cholesterol levels than the standard normal range. The lack of specialized medical equipment, such as the slit-lamp (Ruparelia in Dalhousie Med J 49(1), [1]) bio-microscope, and trained professionals, especially in rural areas, make it difficult to detect these conditions through eye examinations. To address this issue, a supervised machine learning method, the Recurrent Neural Network (RNN), has been utilized to create an iris scanner system that can identify cataract and high cholesterol in a patient. This system will classify eyes into three categories, i.e., cataract, high cholesterol, and normal iris. The computer simulations indicate that this technique is more accurate and requires less training time compared to the existing Convolutional Neural Network (ANN) and Siamese Neural Network (SNN)-based method, while achieving 100% accuracy. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2024.

关键词： Convolutional neural networks

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Preliminary Characterization of a Plastic Piezoelectric Motor Stator Using High-Speed Digital Holographic Interferometry 1

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SEM Annual Conference and Exposition on Experimental and Applied Mechanics, 2020

作者： Zhao, Z. Carvalho, P.A. Tang, H. Pooladvand, K. Gandomi, K.Y. Nycz, C.J. Furlong, C. Fischer, G.S. Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA United States Mechanical Engineering Department Worcester Polytechnic Institute WorcesterMA United States

ISBN: (数字)9783030597733

ISBN: (纸本)9783030597726

Precise surgical procedures such as deep brain tumor ablation may benefit from intra-operative image guidance using magnetic resonance imaging (MRI). However, the MRI’s strong magnetic fields and constrained space pose the need for robotic devices to assist the surgeon. Piezoelectric motors are often used to actuate these robots. The piezoelectric resonant motor (PRM) is a class of such motors that consist of a bonded piezoelectric ring stator and a frictionally coupled rotor. Steady-state excitation at certain frequencies leads to specific mode shapes on the stator with surface waves having both in-plane and out-of-plane displacement components that cause the coupled rotor to spin. High-speed digital holography (HDH) can be used to measure time variant displacements with nanometer and microsecond resolution. We present initial measurements acquired at 67 k frame per second (fps) of two custom-designed plastic stator components operating at drive frequencies of 6.788 kHz and 6.980 kHz, respectively. Circumferential motion of the traveling surface waves with out-of-plane peak-to-peak displacement of approximately 100 nm peak-to-peak amplitude and a settling time of 2.99 ms was observed. Results demonstrate that plastic stators may be a promising alternative to metallic stators for use in the MRI environment. © 2021, The Society for Experimental Mechanics, Inc.

关键词： Stators

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